EP3726711A1 - Moteur-générateur sans balais - Google Patents

Moteur-générateur sans balais Download PDF

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Publication number
EP3726711A1
EP3726711A1 EP20177917.0A EP20177917A EP3726711A1 EP 3726711 A1 EP3726711 A1 EP 3726711A1 EP 20177917 A EP20177917 A EP 20177917A EP 3726711 A1 EP3726711 A1 EP 3726711A1
Authority
EP
European Patent Office
Prior art keywords
stator
motor
rotor
generator
generator according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20177917.0A
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German (de)
English (en)
Inventor
Ruben Medzhlumyan
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
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Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from RU2019111207A external-priority patent/RU2726153C1/ru
Application filed by Individual filed Critical Individual
Publication of EP3726711A1 publication Critical patent/EP3726711A1/fr
Pending legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/02—Details of the magnetic circuit characterised by the magnetic material
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2706—Inner rotors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors

Definitions

  • the disclosure generally relates to electrical engineering, in particular, it relates to electromagnetic devices or machines, that convert electrical energy into mechanical energy of rotation due to a magnetic field and vice versa (i.e., electric motors), mechanical energy of rotation into electrical energy (i.e., electric generators).
  • electromagnetic devices or machines that convert electrical energy into mechanical energy of rotation due to a magnetic field and vice versa (i.e., electric motors), mechanical energy of rotation into electrical energy (i.e., electric generators).
  • RU 2316881 C2 discloses an electric motor with permanent magnets. It comprises a stator, made as multi-pole stator with permanent magnets, as well as a rotor with an open or closed winding, having connection to the collector and brushes.
  • the collector consists of two systems of contacts on a non-conductive base, isolated from each other and nested into each other so that when the rotor turns from one contact to another contact of the collector, the direction of the current in the rotor winding is reversed using two brushes that can touch any pair of collector contacts of two systems mentioned above.
  • the beginning of the rotor winding is connected to one collector contact system, the end of the rotor winding is connected to another collector contact system, and between each pair of contacts of the mentioned systems there is a "spurious" contact that is not connected to the rotor winding to prevent two brushes of different polarity from touching by one brush; and the stator does not require energy.
  • RU 2510559 C2 discloses a modular electromagnetic device that has a stator and a rotor. Between the surfaces of the stator and the bearing, a multitude of magnets is distributed with alternating orientations in a ring-shaped structure.
  • the stator contains at least one pair of magnetic yokes located symmetrically on both sides of the rotor. Each yoke has a pair of protruding arms, which extend to the magnets and carry a corresponding coil for receiving electrical energy from the electromagnetic device or feeding it into it.
  • Each yoke is individually mounted on its own support, equipped with regulating blocks, which are made with the possibility of adjusting the position of the yoke relative to the opposite magnets.
  • the yoke forms (together with the coils, the support, the regulating blocks, the measuring and control means controlling the yoke) the unit cell of the stator, which can be repeated many times to form single-phase or multi-phase modules.
  • US 2009/0230787 A1 discloses a motor.
  • the stator that has a frame in the overall shape of a sphere, and the rotor has a rotational axis in multiple degrees of freedom.
  • a plurality of coils in the form of rings is attached to the stator.
  • the stator is made from a plurality of segments.
  • the motor is brushless.
  • RU 2545525 C1 discloses a brushless motor-generator. It contains a rotating anchor, which is a rotor, located around the stationary stator. A group of permanent toroidal magnets symmetrically distributed on a circle is used as a rotating rotor, the magnetic poles of these magnets are located on their flat end surfaces and form an intermittent unidirectional magnetic flux along this circle. As a stationary stator, a winding is used, made on a circular frame of circular cross section, the axis of symmetry of which coincides with the axis of symmetry of the rotating armature.
  • the motor provides a torque, acting between the rotor and the stator.
  • the generator receives the torque.
  • limiting factors are the external dimensions and the overall weight (of the rotor/stator).
  • motor-generator stands for an electrical machine that can operate either as motor (converting electrical energy into mechanical energy) or as generator (converting mechanical energy into electrical energy).
  • generator-motor would be a synonym. There is no need that the motor-generator operates in both modes, the motor-generator can be operated as motor only, and can be operated as generator only.
  • winding and coil are considered synonyms, with the non-relevant connotation of “winding” being the wire that makes up the coil. In implementations, there are multiple physical coils, but for simplicity, the approach is explained by the singular term “coil”.
  • the goal of this invention is the development of a motor-generator (preferably brushless) with a reduced weight and size of the stator and rotor, while preserving the characteristic force of the torque.
  • a motor-generator preferably brushless
  • the person of skill in the art can apply the discussion of the torque also to term that focus on the generator function, such as the generated electrical current or the like.
  • the technical result that is achieved when using this invention, is due to the design of the stator and rotor, allowing increased reliability of the motor-generator and reducing the weight and dimensions.
  • the (brushless) motor-generator comprising a rotor with a permanent magnet and a stator, wherein the stator, covering the magnet, is made of a shape with rotational symmetry - sphere, ellipsoid, etc.
  • the windings are made of a rounded cross section.
  • the stator has a spherical shape.
  • windings in the form of layers isolated from each other, forming from 1 to 12 stator coils with uniformly offset poles relative to each other.
  • the rotor is made in the form of a shaft with a permanent magnet fixed on it, the magnetic field vector of the magnet poles is oriented perpendicular to the axis of rotation of the shaft, while the axis of symmetry of the stator coincides with the axis of rotation of the shaft.
  • the rotor shaft may have a cylindrical shape, for example, in the form of a rod, and is made of a magnetic material, as well as of a dielectric material.
  • the rotor shaft and the magnet mount can be made of paramagnetic material such as duralumin and titanium.
  • the stator can be made of non-magnetic material, and its winding can be made of flat wire in the form of a tape, covered with insulation.
  • the stator can comprise a ferromagnet such as magnetically soft iron or perm alloy.
  • Performing the rotor in the form of a shaft with a permanent magnet oriented with respect to the shaft so that the magnetic field vector of the magnet poles is perpendicular to the shaft axis with a magnet fixed to it provides, in addition to reducing the overall dimensions compared to the prototype, the placement of a permanent magnet inside the magnetic fields of the coil, which is necessary for their more effective interaction with the entire magnetic field of the permanent magnet, which increases the interaction force and, accordingly, provides greater reliability through smoother rotation of the rotor.
  • the permanent magnet inside the spherical stator, on the outer surface of which spherical coils with uniformly displaced poles are wound, which means that the poles of the permanent magnet will be located directly inside the coil, also affects the reduction in weight and size characteristics with the same power and torque technical result.
  • the permanent magnet is under the influence of a larger magnetic field, thus providing a smoother rotation of the rotor, which is evident at high revolutions.
  • the location on the outer surface of the stator winding in the form of isolated from each other layers, forming from 1 to 12 stator coils with uniformly shifted poles relative to each other, allows to create a uniform effect of the magnetic fields of the coils on the permanent magnet, ensuring uniform rotation of the rotor.
  • the number of coils is selected based on the overall dimensions of the generator motor: for a small generator motor the number of coils is minimal, while the permanent magnet is in the magnetic field generated by the coil without losing the technical result.
  • the minimum number of coils is one.
  • an increase in the number of coils above 12 is impractical, since this will increase the weight and size characteristics of the device without significantly increasing the torque force.
  • Such a set of advantages distinguishes the solution from known analogs, and also differs from the well-known approach, having a permanent magnet directly inside the stator coils.
  • a sphere has maximal surface with minimal dimension in space (i.e., volume). In view of the above-mentioned task, this effect is used.
  • the magnetic field of a solenoid concentrates inside the solenoid. Therefore, the sphere coil (i.e., "spherical coil") concentrates the magnetic field inside the sphere.
  • the sphere coil can be considered as a form-transformed solenoid.
  • the sphere coil is a modified solenoid coil, that is not wound around a cylinder (as with the solenoid) but appears as wound around a ball.
  • the spherical coil at the stator concentrates the magnetic field similar as a magnifying glass focuses the light.
  • the inner surface of the sphere coil is maximized for the given external dimension.
  • the spherical stator has an external surface with maximal area as well.
  • the electric motor (or generator) is relatively powerful: the torque is relatively high and the size (external dimension) and weight are relatively small.
  • a spherical electromagnetic coil i.e., as if wound around a ball
  • the internal area of the spherical coil is maximal for a given volume, while the external surface of a spherical magnetic stator has a maximum area, and therefore the interaction of the magnetic fields of the stator and rotor has a maximum area for this volume.
  • stator with its coil (or coils) appears more monolithic (one piece), and that the sphere is broken only in two parts: the openings for the shaft of the rotor.
  • the stator is implemented from non-magnetic material (diamagnet). This can be advantageous because the lack of saturation induction allows to apply larger currents in the stator coil (in comparison to implementation that lead to saturation induction).
  • stator is optimized according to the principle of maximizing magnetic field (in relation to the surface).
  • the same principle can be applied to the rotor as well.
  • the permanent magnet of the rotor can have spherical shape as well.
  • the outer dimension of the rotor can fit to the inner dimension of the stator such that the distance between rotor and stator is minimized.
  • both the rotor and the stator are implemented by spheres, the magnetic field between the stator and the rotor is located in the maximal surface area. Thereby the magnetic interaction (between the magnetic field of the stator and of the rotor) is optimized to be high, wherein at the same time the overall volume (external dimension of the stator / rotor) is minimized.
  • Having both the rotor (i.e. the permanent magnet of the rotor) and the stator implemented by spheres has the further advantage of having substantially equal rotor-stator distance at substantially all parts of the rotor/stator. Equal distance can be advantageous in view of substantially equal magnetic flow between the rotor and the stator.
  • the bearings of the rotor are made of ceramic material, in which there is no heating of the bearing by Foucault currents (or eddy currents).
  • the stator obtains mechanical stability by being implemented with metals.
  • Convenient metals are so-called soft-magnetic materials (i.e., materials that are easy to magnetize or demagnetize, such as for example iron).
  • metals add weight.
  • the spherical shape of the rotor allows a different approach:
  • the spherical coils (of the stator) can be impregnated and filled with composite material.
  • the coils are made from metal wire (conducting, to obtain the electrical field) and the wires are glued together by non-metal material (or hold together otherwise, to obtain insulation and mechanical stability).
  • Such an implementation approaches a "coil-only" stator in that the mechanical stability of the stator (e.g., the provide the torque) avoid metal parts in the stator housing.
  • the coils (of the stator) are implemented by stranded wire.
  • a magnetic screen is attached outside the stator coils.
  • the magnetic screen has a wall thickness (in the closed interval between 1 to 20 mm, or [1 mm, 20 mm]).
  • the screen has a same shape of the stator: it is a sphere as well. As the name suggests, the magnetic screen keeps the magnetic field inside the stator (i.e., focusing effect).
  • the magnetic screen (or shielding) is made of soft magnetic material (i.e., material with low coercivity), such as pure iron.
  • the screen material can be attached to the (outer surface of the) stator during manufacturing by deposition. (Looking from inside: shaft, rotor, stator coil, shielding).
  • the stator comprises a housing in the form of two hemispheres that are located outside the stator coils. Both hemispheres can compress the stator, and both hemispheres can be attached to each other by fastenings in the form of bolts or studs.
  • the housing has the function of a mount housing, by that the stator is mounted.
  • the housing can be implemented as a sphere (e.g., with two hemispheres as described), or can be implemented by a similar form such as by a cube or by a dodecahedron. It is noted that the side areas (or face areas) of the cube / dodecahedron are convenient to mount the stator.
  • the motor-generator (preferably brushless) comprises a rotor 1 and a stator 2.
  • the rotor 1 is made in the form of a shaft 3, on which a permanent magnet 4 is rigidly fixed.
  • the rotor 1 is mounted for rotation inside the stator 2, so that the axis of rotation of the shaft 3 coincides with the axis of symmetry of the stator 2.
  • the magnetic field vector of the poles of the magnet 4 is perpendicular to the axis of rotation of the shaft 3.
  • the stator 2 is stationary and has a rotational axis, for example, a sphere or an ellipse or other shape with rotational symmetry.
  • the winding 5 is made on the outer surface of the stator 2.
  • the winding 5 forms the coils of the stator 2.
  • the windings 5 are wound in layers, independently of each other, and are located along the surface of a spherical stator 2 with uniformly offset poles relative to each other. For example, in the case of two windings, two electromagnetic coils are formed, which have four poles. With so many coils should be placed on the surface of the stator 2 with the poles shifted relative to each other by 90° (i.e. 90 degrees shifted poles), and when performing three isolated windings, the poles are shifted by 60°. In another embodiment, the poles are shifted by 30° with 24 layers of coils in the device.
  • the stator 2 covers the magnet 4 so that it is completely located inside the stationary stator 2 and is inside the coils and the magnetic field of the coils.
  • the shaft 3 is made of a cylindrical shape, such as a rod, pin, etc., and can be made of a non-magnetic or magnetic material.
  • the stator 2 is made of a dielectric or composite magnetic material.
  • the winding 5 of the stator 2 is made of insulated wire of circular cross section or insulated flat wire in the form of a tape.
  • the (brushless) motor-generator operates as follows.
  • the stator 2 and the rotor 1 are fastened in accordance with the planned application, for example, using bearings (not shown in the Figures), and the shaft 3 of the rotor 1 is placed in the inner ring of the bearing, while the stator 2 is placed on the outer ring of the bearing.
  • the rotation of the rotor 1 is due to the interaction of the opposite poles of the magnetic fields between the permanent magnet 4 and the resulting electromagnet (coil under voltage).
  • the rotor 1 When the rotor 1 rotates and approaches the pole of the next coil, the voltage is applied to it, the next coil is also powered and becomes an electromagnet. Further process repeats for all coils. After that, the first coil is energized with reverse polarity. The process repeats, and the rotor 1 continues to rotate. Due to the fact that a permanent magnet 4 is located inside the stator 2, there is a strong magnetic interaction between the permanent magnet 4 and the resulting electromagnet, the poles of which are evenly displaced relative to each other along the surface of the stator 2, thereby achieving torque stability without jerking at any rotor speed that ensures the reliability of the device with its small weight and size parameters. The magnetic field of an electromagnet more effectively interacts with a permanent magnet, ensuring smooth rotor rotation with interacting magnetic fields, which is important at any rotor speed.
  • this motor goes into generator mode and provides electrical power that can be accumulated or consumed by external sources.
  • a permanent magnet can be rigidly mounted on the rotor shaft, as well as be made monolithically with the shaft.
  • Brushless motors are much smaller than collector motors of the same power (there are no commutators inside the motor-generator), but the new approach with the spherical shape (stator, rotor) provides for a further size reduction.
  • the new approach has shown its effectiveness in achieving a technical result in its practical realization.
  • overall dimensions and weight of the motor-generator are smaller compared with the known brushless generators, with the overall simplicity of performance and ease of operation and use in order to achieve the goal.
  • the motor-generator can be used in aircraft and or other vehicles in that relatively small external dimensions and relatively low weight are desired.
  • the technical solution can be used in aviation and automotive industry, drives of various devices and mechanisms for industrial and domestic purposes. It can also be used as a motor-generator in cars, electric bicycles, electric motorcycles, quadcopters, helicopters, jet skis, industrial and household appliances.
  • FIG. 4 illustrates the motor-generator in view from above, with the axis of rotation in the center, and with rotor 1 (inside) and stator 2 (outside) simplified to circles.
  • the rotor 1 uses a permanent magnet, the poles N ("north”) and S (“south”) are symbolized.
  • the legend in the lower left corner illustrates a coordinate system with a wire with current, the resulting magnetic field and the resulting force, well-known by the term "right-hand rule".
  • the arrows for the magnetic field and for the resulting mechanical forces are illustrated differently.
  • the person of skill in the art understands that the directions (by arrows) for current, magnetic field gradient and resulting forces are merely symbolic. Directions can be defined differently without departing from the scope of the illustration.
  • Reference 8A illustrates the coil with current flow in one direction
  • reference 8B illustrates the same coil with the current flow in the other direction.
  • the magnetic field would interact with the magnetic field of the rotor to create a force in the direction of rotation (i.e., the torque).
  • the magnetic filed is a gradient, and for simplicity this gradient is only illustrated with a single arrow standing for the one exemplary field line. For references 8A and 8B, this arrow points to the rotational axis.
  • FIG. 5 illustrates a motor-generator with 3 stator coils.
  • FIG. 5 takes over the notation of the coils (and the current directions) and applies the notation to motor-generator that has 3 coils, with windings for the first, second and third coils.
  • the first coil is located close to the rotor, and the third coil is located at the outside.
  • N and S the first coil creates a magnetic field with N1 and S1, with the magnetic field lines directed to the permanent magnet (with N and S likewise).
  • the second coil creates a magnetic field N2 and S2, but shifted (60°) to the field of the first coil.
  • the principle is applied to the third coil as well, again shifted (60°).
  • the angle is calculated as 180° over the number of coils.
  • the arrows show the magnetic field created by the coils, mainly directed to the center of the magnet.
  • FIG. 6 illustrates the motor-generator in a side view, but with more details regarding the rotor magnet 4 (that is spherical).
  • the rotor shaft 3 is illustrated as the center (axis of rotation).
  • the spherical stator 3 and the spherical magnet 4 (of the rotor 1) are illustrated in cross-section view.
  • the horizontal dashed line illustrates the transition between magnetic field polarity types (i.e., conventionally called N and S). As illustrated in FIG. 4 , the resulting force would be oriented "into" the drawing and would cause rotation (e.g., for the motor function).
  • FIG. 7 illustrates a further view to a 3-coil motor-generator, with more details.
  • the magnetic shield is noted.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)
EP20177917.0A 2019-04-15 2020-06-02 Moteur-générateur sans balais Pending EP3726711A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
RU2019111207A RU2726153C1 (ru) 2019-04-15 2019-04-15 Бесколлекторный мотор-генератор
US16/407,600 US11108311B2 (en) 2019-04-15 2019-05-09 Brushless motor-generator having a spherical stator and spherical windings with displaced poles
EP19207748 2019-11-07

Publications (1)

Publication Number Publication Date
EP3726711A1 true EP3726711A1 (fr) 2020-10-21

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ID=70847306

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20177917.0A Pending EP3726711A1 (fr) 2019-04-15 2020-06-02 Moteur-générateur sans balais

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EP (1) EP3726711A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113205958A (zh) * 2021-04-26 2021-08-03 骏日科技(深圳)有限公司 球面线圈的绕制装置及方法
CN114050673A (zh) * 2021-11-17 2022-02-15 哈尔滨工程大学 一种用于水下无人航行器的自动发电装置
US11476742B1 (en) * 2021-04-23 2022-10-18 Huazhong University Of Science And Technology Multi-degree-of-freedom spherical motor

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5410232A (en) * 1992-12-18 1995-04-25 Georgia Tech Research Corporation Spherical motor and method
US20030215343A1 (en) * 2002-05-20 2003-11-20 Karsten A. Laing Centrifugal pump with integrated motor
RU2316881C2 (ru) 2005-10-13 2008-02-10 Виктор Семенович Ломоносов Электрический мотор на постоянных магнитах
US20090230787A1 (en) 2008-02-29 2009-09-17 Iucf-Hyu (Industry-University Cooperation Foundation Hanyang University) Spherical motor rotating in multiple degrees of freedom
US20130113307A1 (en) * 2011-11-09 2013-05-09 Electronics And Telecommunications Research Institute Spherical Wheel Motor
RU2510559C2 (ru) 2008-01-21 2014-03-27 Авио С.П.А. Модульное электромагнитное устройство, выполненное с возможностью обратимой работы в качестве генератора и электродвигателя
WO2015027939A1 (fr) * 2013-10-08 2015-03-05 Ho Kuokwa Moteur rotatif universel à joint à rotule, procédé de fabrication et mécanisme de fonctionnement associés
RU2545525C1 (ru) 2013-10-16 2015-04-10 Олег Фёдорович Меньших Бесколлекторный мотор-генератор постоянного тока
CN109617281A (zh) * 2019-01-16 2019-04-12 安徽大学 一种永磁球形电机转子支撑结构

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5410232A (en) * 1992-12-18 1995-04-25 Georgia Tech Research Corporation Spherical motor and method
US20030215343A1 (en) * 2002-05-20 2003-11-20 Karsten A. Laing Centrifugal pump with integrated motor
RU2316881C2 (ru) 2005-10-13 2008-02-10 Виктор Семенович Ломоносов Электрический мотор на постоянных магнитах
RU2510559C2 (ru) 2008-01-21 2014-03-27 Авио С.П.А. Модульное электромагнитное устройство, выполненное с возможностью обратимой работы в качестве генератора и электродвигателя
US20090230787A1 (en) 2008-02-29 2009-09-17 Iucf-Hyu (Industry-University Cooperation Foundation Hanyang University) Spherical motor rotating in multiple degrees of freedom
US20130113307A1 (en) * 2011-11-09 2013-05-09 Electronics And Telecommunications Research Institute Spherical Wheel Motor
WO2015027939A1 (fr) * 2013-10-08 2015-03-05 Ho Kuokwa Moteur rotatif universel à joint à rotule, procédé de fabrication et mécanisme de fonctionnement associés
RU2545525C1 (ru) 2013-10-16 2015-04-10 Олег Фёдорович Меньших Бесколлекторный мотор-генератор постоянного тока
CN109617281A (zh) * 2019-01-16 2019-04-12 安徽大学 一种永磁球形电机转子支撑结构

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11476742B1 (en) * 2021-04-23 2022-10-18 Huazhong University Of Science And Technology Multi-degree-of-freedom spherical motor
US20220345014A1 (en) * 2021-04-23 2022-10-27 Huazhong University Of Science And Technology Multi-degree-of-freedom spherical motor
CN113205958A (zh) * 2021-04-26 2021-08-03 骏日科技(深圳)有限公司 球面线圈的绕制装置及方法
CN113205958B (zh) * 2021-04-26 2023-01-31 骏日科技(深圳)有限公司 球面线圈的绕制装置及方法
CN114050673A (zh) * 2021-11-17 2022-02-15 哈尔滨工程大学 一种用于水下无人航行器的自动发电装置

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